A look-ahead driver model for autonomous cruising on highways

Jungho Park; Parviz E Nikravesh

doi:10.4271/961686

A look-ahead driver model for autonomous cruising on highways

Jungho Park, Parviz E Nikravesh

Aerospace and Mechanical Engineering

Research output: Contribution to journal › Conference article › peer-review

5 Scopus citations

Abstract

This paper presents a look-ahead driver model with potential application to autonomous cruising of vehicles on highways. The driver model has two physically meaningful parameters: the look-ahead distance and the steering sensitivity. The two parameters are scheduled with respect to the vehicle speed using a preprocessor that converts open-loop steering response data to pseudo-closed-loop steering response data. Sample simulations with a realistic three-dimensional multibody vehicle model are presented for a lane-change scenario. The results indicate that the proposed driver model performs well for a wide range of vehicle speeds.

Original language	English (US)
Journal	SAE Technical Papers
DOIs	https://doi.org/10.4271/961686
State	Published - Jan 1 1996
Event	Future Transportation Technology Conference - Vancouver, BC, Canada Duration: Aug 5 1996 → Aug 8 1996

ASJC Scopus subject areas

Automotive Engineering
Safety, Risk, Reliability and Quality
Pollution
Industrial and Manufacturing Engineering

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title = "A look-ahead driver model for autonomous cruising on highways",

abstract = "This paper presents a look-ahead driver model with potential application to autonomous cruising of vehicles on highways. The driver model has two physically meaningful parameters: the look-ahead distance and the steering sensitivity. The two parameters are scheduled with respect to the vehicle speed using a preprocessor that converts open-loop steering response data to pseudo-closed-loop steering response data. Sample simulations with a realistic three-dimensional multibody vehicle model are presented for a lane-change scenario. The results indicate that the proposed driver model performs well for a wide range of vehicle speeds.",

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AB - This paper presents a look-ahead driver model with potential application to autonomous cruising of vehicles on highways. The driver model has two physically meaningful parameters: the look-ahead distance and the steering sensitivity. The two parameters are scheduled with respect to the vehicle speed using a preprocessor that converts open-loop steering response data to pseudo-closed-loop steering response data. Sample simulations with a realistic three-dimensional multibody vehicle model are presented for a lane-change scenario. The results indicate that the proposed driver model performs well for a wide range of vehicle speeds.

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A look-ahead driver model for autonomous cruising on highways

Abstract

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